diff --git a/.github/workflows/build_and_test_iron.yaml b/.github/workflows/build_and_test_iron.yaml
new file mode 100644
index 0000000..07eb5e9
--- /dev/null
+++ b/.github/workflows/build_and_test_iron.yaml
@@ -0,0 +1,27 @@
+name: Build and Test (iron)
+
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ iron ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ iron ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+
+    steps:
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: iron